非完整机械控制系统的模型参考变结构控制(英文)

Model Reference Variable Structure Control for NonHolonomic Mechanical Control Sysytems*

在参数扰动和外部干扰情况下，对非完整机械控制系统设计了变结构模型参考跟踪控制器．基于适当的矩阵分解、非线性控制理论中的输入输出解耦概念及变结构控制理论，为解决干扰非完整机械控制系统的跟踪问题提出了三级控制设计过程．

A variable structure model reference tracking controller for nonholonomic mechanical systems is designed under parametric perturbation and external disturbance.A design procedure with threestage control is developed to solve the tracking problem for perturbed nonholonomic mechanical control systems based on a proper matrix decomposition,the concept of input/output decoupling in nonlinear control theory,and the theory of variable structure control.Finally,a typical nonholonomic example a vertical wheel moving on a given plane is given with computer simulation to illustrate the significant advantage of the proposed method.